moveit_visual_tools::MoveItVisualTools Class Reference

#include <moveit_visual_tools.h>

Inheritance diagram for moveit_visual_tools::MoveItVisualTools:

List of all members.

Public Member Functions
bool	applyVirtualJointTransform (moveit::core::RobotState &robot_state, const Eigen::Affine3d &offset)
	Before publishing a robot state, optionally change its root transform.
bool	attachCO (const std::string &name, const std::string &ee_parent_link)
	Attach a collision object from the planning scene.
bool	cleanupACO (const std::string &name)
	Remove an active collision object from the planning scene.
bool	cleanupCO (const std::string &name)
	Remove a collision object from the planning scene.
void	disableRobotStateRootOffet ()
	Turn off the root offset feature.
void	enableRobotStateRootOffet (const Eigen::Affine3d &offset)
	All published robot states will have their virtual joint moved by offset.
void	getCollisionWallMsg (double x, double y, double angle, double width, double height, const std::string name, moveit_msgs::CollisionObject &collision_obj)
	Helper for publishCollisionWall.
moveit::core::RobotModelConstPtr	getRobotModel ()
	Get a pointer to the robot model.
moveit::core::RobotStatePtr &	getRootRobotState ()
	Allow robot state to be altered.
moveit::core::RobotStatePtr &	getSharedRobotState ()
	Allow robot state to be altered.
bool	hideRobot ()
	Fake removing a Robot State display in Rviz by simply moving it very far away.
bool	loadCollisionSceneFromFile (const std::string &path)
	Load a planning scene to a planning_scene_monitor from file.
bool	loadCollisionSceneFromFile (const std::string &path, const Eigen::Affine3d &offset)
RVIZ_VISUAL_TOOLS_DEPRECATED bool	loadEEMarker (const std::string &ee_group_name)
	Call this once at begining to load the robot marker.
bool	loadEEMarker (const robot_model::JointModelGroup *ee_jmg)
	Call this once at begining to load the robot marker.
bool	loadPlanningSceneMonitor ()
	Load a planning scene monitor if one was not passed into the constructor.
void	loadRobotStatePub (const std::string &robot_state_topic="", bool blocking=true)
bool	loadSharedRobotState ()
	Load robot state only as needed.
void	loadTrajectoryPub (const std::string &display_planned_path_topic=DISPLAY_PLANNED_PATH_TOPIC, bool blocking=true)
	Load publishers as needed.
	MoveItVisualTools (const std::string &base_frame, const std::string &marker_topic, planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor)
	Constructor.
	MoveItVisualTools (const std::string &base_frame, const std::string &marker_topic=rviz_visual_tools::RVIZ_MARKER_TOPIC, robot_model::RobotModelConstPtr robot_model=robot_model::RobotModelConstPtr())
	Constructor.
bool	processAttachedCollisionObjectMsg (const moveit_msgs::AttachedCollisionObject &msg)
	Skip a ROS message call by sending directly to planning scene monitor.
bool	processCollisionObjectMsg (const moveit_msgs::CollisionObject &msg, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Skip a ROS message call by sending directly to planning scene monitor.
bool	publishAnimatedGrasp (const moveit_msgs::Grasp &grasp, const robot_model::JointModelGroup *ee_jmg, double animate_speed)
	Animate a single grasp in its movement direction.
bool	publishAnimatedGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const robot_model::JointModelGroup *ee_jmg, double animate_speed=0.01)
	Display an animated vector of grasps including its approach movement in Rviz.
bool	publishCollisionBlock (const geometry_msgs::Pose &block_pose, const std::string &block_name, double block_size, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a MoveIt Collision block at the given pose.
bool	publishCollisionCuboid (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std::string &name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionCuboid (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std::string &name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionCylinder (const geometry_msgs::Point &a, const geometry_msgs::Point &b, const std::string &object_name, double radius, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a MoveIt Collision cylinder between two points.
bool	publishCollisionCylinder (const Eigen::Vector3d &a, const Eigen::Vector3d &b, const std::string &object_name, double radius, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionCylinder (const Eigen::Affine3d &object_pose, const std::string &object_name, double radius, double height, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a MoveIt Collision cylinder with a center point pose.
bool	publishCollisionCylinder (const geometry_msgs::Pose &object_pose, const std::string &object_name, double radius, double height, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionFloor (double z=0.0, const std::string &plane_name="Floor", const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Make the floor a collision object.
bool	publishCollisionGraph (const graph_msgs::GeometryGraph &graph, const std::string &object_name, double radius, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Publish a connected birectional graph.
bool	publishCollisionMesh (const geometry_msgs::Pose &object_pose, const std::string &object_name, const std::string &mesh_path, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Create a collision object using a mesh.
bool	publishCollisionMesh (const Eigen::Affine3d &object_pose, const std::string &object_name, const std::string &mesh_path, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionMesh (const Eigen::Affine3d &object_pose, const std::string &object_name, const shape_msgs::Mesh &mesh_msg, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishCollisionMesh (const geometry_msgs::Pose &object_pose, const std::string &object_name, const shape_msgs::Mesh &mesh_msg, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishCollisionRectangle (const Eigen::Vector3d &point1, const Eigen::Vector3d &point2, const std::string &name, const rviz_visual_tools::colors &color)
	Create a MoveIt collision rectangular cuboid at the given pose.
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishCollisionRectangle (const geometry_msgs::Point &point1, const geometry_msgs::Point &point2, const std::string &name, const rviz_visual_tools::colors &color)
bool	publishCollisionTable (double x, double y, double angle, double width, double height, double depth, const std::string name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Publish a typical room table.
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishCollisionTests ()
	Simple tests for collision testing.
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishCollisionWall (double x, double y, double angle, double width, const std::string name, const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
	Publish a typical room wall.
bool	publishCollisionWall (double x, double y, double angle=0.0, double width=2.0, double height=1.5, const std::string name="wall", const rviz_visual_tools::colors &color=rviz_visual_tools::GREEN)
bool	publishContactPoints (const moveit::core::RobotState &robot_state, const planning_scene::PlanningScene *planning_scene, const rviz_visual_tools::colors &color=rviz_visual_tools::RED)
	Given a planning scene and robot state, publish any collisions.
bool	publishEEMarkers (const Eigen::Affine3d &pose, const robot_model::JointModelGroup *ee_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::CLEAR, const std::string &ns="end_effector")
	Publish an end effector to rviz.
bool	publishEEMarkers (const geometry_msgs::Pose &pose, const robot_model::JointModelGroup *ee_jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::CLEAR, const std::string &ns="end_effector")
bool	publishGrasps (const std::vector< moveit_msgs::Grasp > &possible_grasps, const robot_model::JointModelGroup *ee_jmg, double animate_speed=0.1)
	Show grasps generated from moveit_simple_grasps or other MoveIt Grasp message sources.
bool	publishIKSolutions (const std::vector< trajectory_msgs::JointTrajectoryPoint > &ik_solutions, const robot_model::JointModelGroup *arm_jmg, double display_time=0.4)
	Display an vector of inverse kinematic solutions for the IK service in Rviz Note: this is published to the 'Planned Path' section of the 'MotionPlanning' display in Rviz.
bool	publishRobotState (const trajectory_msgs::JointTrajectoryPoint &trajectory_pt, const robot_model::JointModelGroup *jmg, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
	Publish a MoveIt robot state to a topic that the Rviz "RobotState" display can show.
bool	publishRobotState (const moveit::core::RobotState &robot_state, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
	Publish a complete robot state to Rviz To use, add a RobotState marker to Rviz and subscribe to the DISPLAY_ROBOT_STATE_TOPIC, above.
bool	publishRobotState (const moveit::core::RobotStatePtr &robot_state, const rviz_visual_tools::colors &color=rviz_visual_tools::DEFAULT)
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishTrajectoryLine (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::LinkModel *ee_parent_link, const robot_model::JointModelGroup *arm_jmg, const rviz_visual_tools::colors &color, bool clear_all_markers)
	Display a line of the end effector path from a robot trajectory path.
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishTrajectoryLine (const robot_trajectory::RobotTrajectoryPtr robot_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color, bool clear_all_markers)
RVIZ_VISUAL_TOOLS_DEPRECATED bool	publishTrajectoryLine (const robot_trajectory::RobotTrajectory &robot_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color, bool clear_all_markers)
bool	publishTrajectoryLine (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::LinkModel *ee_parent_link, const robot_model::JointModelGroup *arm_jmg, const rviz_visual_tools::colors &color)
	Display a line of the end effector path from a robot trajectory path.
bool	publishTrajectoryLine (const robot_trajectory::RobotTrajectoryPtr robot_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color)
bool	publishTrajectoryLine (const robot_trajectory::RobotTrajectory &robot_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color)
bool	publishTrajectoryPath (const std::vector< moveit::core::RobotStatePtr > &trajectory, const moveit::core::JointModelGroup *jmg, double speed=0.01, bool blocking=false)
	Animate trajectory in rviz.
bool	publishTrajectoryPath (const robot_trajectory::RobotTrajectoryPtr &trajectory, bool blocking=false)
bool	publishTrajectoryPath (const robot_trajectory::RobotTrajectory &trajectory, bool blocking=false)
bool	publishTrajectoryPath (const moveit_msgs::RobotTrajectory &trajectory_msg, const moveit::core::RobotStateConstPtr robot_state, bool blocking=false)
bool	publishTrajectoryPoint (const trajectory_msgs::JointTrajectoryPoint &trajectory_pt, const std::string &planning_group, double display_time=0.1)
	Move a joint group in MoveIt for visualization make sure you have already set the planning group name this assumes the trajectory_pt position is the size of the number of joints in the planning group This will be displayed in the Planned Path section of the MoveIt Rviz plugin.
bool	publishTrajectoryPoints (const std::vector< moveit::core::RobotStatePtr > &robot_state_trajectory, const moveit::core::LinkModel *ee_parent_link, const rviz_visual_tools::colors &color=rviz_visual_tools::YELLOW)
	Display trajectory as series of end effector position points.
bool	publishWorkspaceParameters (const moveit_msgs::WorkspaceParameters &params)
	Display size of workspace used for planning with OMPL, etc. Important for virtual joints.
bool	removeAllCollisionObjects ()
	Remove all collision objects that this class has added to the MoveIt! planning scene Communicates directly to a planning scene monitor e.g. if this is the move_group node.
void	setManualSceneUpdating (bool enable_manual=true)
	Prevent the planning scene from always auto-pushing, but rather do it manually.
void	setPlanningSceneMonitor (planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor)
	Allow a pre-configured planning scene monitor to be set for publishing collision objects, etc.
void	setPlanningSceneTopic (const std::string &planning_scene_topic)
	Set the planning scene topic.
void	setRobotStateTopic (const std::string &robot_state_topic)
	Set the ROS topic for publishing a robot state.
void	showJointLimits (moveit::core::RobotStatePtr robot_state)
	Print to console the current robot state's joint values within its limits visually.
bool	triggerPlanningSceneUpdate ()
	When mannual_trigger_update_ is true, use this to tell the planning scene to send an update out. Do not use otherwise.
Protected Attributes
std::map < rviz_visual_tools::colors, moveit_msgs::DisplayRobotState >	display_robot_msgs_
std::map< const robot_model::JointModelGroup *, visualization_msgs::MarkerArray >	ee_markers_map_
std::map< const robot_model::JointModelGroup *, EigenSTL::vector_Affine3d >	ee_poses_map_
moveit::core::RobotStatePtr	hidden_robot_state_
bool	mannual_trigger_update_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
std::string	planning_scene_topic_
ros::Publisher	pub_display_path_
ros::Publisher	pub_robot_state_
robot_model_loader::RobotModelLoaderPtr	rm_loader_
moveit::core::RobotModelConstPtr	robot_model_
Eigen::Affine3d	robot_state_root_offset_
bool	robot_state_root_offset_enabled_
std::string	robot_state_topic_
moveit::core::RobotStatePtr	root_robot_state_
moveit::core::RobotStatePtr	shared_robot_state_
Private Member Functions
bool	checkForVirtualJoint (const moveit::core::RobotState &robot_state)
	Error check that the robot's SRDF was properly setup with a virtual joint that was named a certain way.
planning_scene_monitor::PlanningSceneMonitorPtr	getPlanningSceneMonitor ()
	Get the planning scene monitor that this class is using.

---

Detailed Description

Definition at line 74 of file moveit_visual_tools.h.

---

Constructor & Destructor Documentation

moveit_visual_tools::MoveItVisualTools::MoveItVisualTools	(	const std::string &	base_frame,
		const std::string &	marker_topic,
		planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor
	)

Constructor.

Parameters:

base_frame	- common base for all visualization markers, usually "/world" or "/odom"
marker_topic	- rostopic to publish markers to - your Rviz display should match
planning_scene_monitor	- optionally pass in a pre-loaded planning scene monitor to avoid having to re-load the URDF, kinematic solvers, etc

Definition at line 67 of file moveit_visual_tools.cpp.

moveit_visual_tools::MoveItVisualTools::MoveItVisualTools	(	const std::string &	base_frame,
		const std::string &	marker_topic = rviz_visual_tools::RVIZ_MARKER_TOPIC,
		robot_model::RobotModelConstPtr	robot_model = robot_model::RobotModelConstPtr()
	)

Constructor.

Parameters:

base_frame	- common base for all visualization markers, usually "/world" or "/odom"
marker_topic	- rostopic to publish markers to - your Rviz display should match
robot_model	- load robot model pointer so that we don't have do re-parse it here

Definition at line 78 of file moveit_visual_tools.cpp.

---

Member Function Documentation

bool moveit_visual_tools::MoveItVisualTools::applyVirtualJointTransform	(	moveit::core::RobotState &	robot_state,
		const Eigen::Affine3d &	offset
	)

Before publishing a robot state, optionally change its root transform.

Definition at line 1443 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::attachCO	(	const std::string &	name,
		const std::string &	ee_parent_link
	)

Attach a collision object from the planning scene.

Parameters:

Name	of object
\return	true on sucess

Definition at line 571 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::checkForVirtualJoint

(

const moveit::core::RobotState &

robot_state

)

[private]

Error check that the robot's SRDF was properly setup with a virtual joint that was named a certain way.

Returns:

true on success

Definition at line 1412 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::cleanupACO

(

const std::string &

name

)

Remove an active collision object from the planning scene.

Parameters:

Name

of object

Returns:

true on sucess

Definition at line 558 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::cleanupCO

(

const std::string &

name

)

Remove a collision object from the planning scene.

Parameters:

Name

of object

Returns:

true on sucess

Definition at line 546 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::disableRobotStateRootOffet

(

)

Turn off the root offset feature.

Definition at line 1243 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::enableRobotStateRootOffet

(

const Eigen::Affine3d &

offset

)

All published robot states will have their virtual joint moved by offset.

Definition at line 1237 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::getCollisionWallMsg	(	double	x,
		double	y,
		double	angle,
		double	width,
		double	height,
		const std::string	name,
		moveit_msgs::CollisionObject &	collision_obj
	)

Helper for publishCollisionWall.

Definition at line 846 of file moveit_visual_tools.cpp.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::MoveItVisualTools::getPlanningSceneMonitor

(

)

[private]

Get the planning scene monitor that this class is using.

Returns:

a ptr to a planning scene

-------------------------------------------------------------------------------------- Private Functions --------------------------------------------------------------------------------------

Definition at line 1400 of file moveit_visual_tools.cpp.

moveit::core::RobotModelConstPtr moveit_visual_tools::MoveItVisualTools::getRobotModel

(

)

Get a pointer to the robot model.

Returns:

const RobotModel

Definition at line 213 of file moveit_visual_tools.cpp.

moveit::core::RobotStatePtr& moveit_visual_tools::MoveItVisualTools::getRootRobotState

(

)

[inline]

Allow robot state to be altered.

Returns:

shared pointer to robot state

Definition at line 159 of file moveit_visual_tools.h.

moveit::core::RobotStatePtr & moveit_visual_tools::MoveItVisualTools::getSharedRobotState

(

)

Allow robot state to be altered.

Returns:

shared pointer to robot state

Definition at line 206 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::hideRobot

(

)

Fake removing a Robot State display in Rviz by simply moving it very far away.

Returns:

true on success

Definition at line 1325 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadCollisionSceneFromFile

(

const std::string &

path

)

Load a planning scene to a planning_scene_monitor from file.

Parameters:

path	- path to planning scene, e.g. as exported from Rviz Plugin
offset	for scene to be placed

Returns:

true on success

Definition at line 946 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadCollisionSceneFromFile	(	const std::string &	path,
		const Eigen::Affine3d &	offset
	)

Definition at line 951 of file moveit_visual_tools.cpp.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::loadEEMarker

(

const std::string &

ee_group_name

)

[inline]

Call this once at begining to load the robot marker.

Parameters:

ee_group_name

- name of planning_group for the end effector

Returns:

true if it is successful

Definition at line 176 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::loadEEMarker

(

const robot_model::JointModelGroup *

ee_jmg

)

Call this once at begining to load the robot marker.

Parameters:

ee_jmg

- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"

Returns:

true if it is successful

Definition at line 220 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadPlanningSceneMonitor

(

)

Load a planning scene monitor if one was not passed into the constructor.

Returns:

true if successful in loading

Definition at line 87 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::loadRobotStatePub	(	const std::string &	robot_state_topic = "",
		bool	blocking = true
	)

Definition at line 303 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::loadSharedRobotState

(

)

Load robot state only as needed.

Returns:

true if successful in loading

Definition at line 177 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::loadTrajectoryPub	(	const std::string &	display_planned_path_topic = DISPLAY_PLANNED_PATH_TOPIC,
		bool	blocking = true
	)

Load publishers as needed.

Definition at line 289 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::processAttachedCollisionObjectMsg

(

const moveit_msgs::AttachedCollisionObject &

msg

)

Skip a ROS message call by sending directly to planning scene monitor.

Parameters:

attached

collision object message

Returns:

true on success

Definition at line 152 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::processCollisionObjectMsg	(	const moveit_msgs::CollisionObject &	msg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Skip a ROS message call by sending directly to planning scene monitor.

Parameters:

collision	object message
color	to display the collision object with

Returns:

true on success

Definition at line 133 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishAnimatedGrasp	(	const moveit_msgs::Grasp &	grasp,
		const robot_model::JointModelGroup *	ee_jmg,
		double	animate_speed
	)

Animate a single grasp in its movement direction.

Parameters:

grasp
ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
animate_speed	- how fast the gripper approach is animated

Returns:

true on sucess

Definition at line 411 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishAnimatedGrasps	(	const std::vector< moveit_msgs::Grasp > &	possible_grasps,
		const robot_model::JointModelGroup *	ee_jmg,
		double	animate_speed = 0.01
	)

Display an animated vector of grasps including its approach movement in Rviz.

Parameters:

possible_grasps	- a set of grasp positions to visualize
ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
animate_speed	- how fast the gripper approach is animated, optional

Definition at line 391 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionBlock	(	const geometry_msgs::Pose &	block_pose,
		const std::string &	block_name,
		double	block_size,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a MoveIt Collision block at the given pose.

Parameters:

pose	- location of center of block
name	- semantic name of MoveIt collision object
size	- height=width=depth=size
color	to display the collision object with

Returns:

true on sucess

Definition at line 587 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std::string &	name,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 611 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCuboid	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const std::string &	name,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 617 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const geometry_msgs::Point &	a,
		const geometry_msgs::Point &	b,
		const std::string &	object_name,
		double	radius,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a MoveIt Collision cylinder between two points.

Parameters:

point	a - x,y,z in space of a point
point	b - x,y,z in space of a point
name	- semantic name of MoveIt collision object
radius	- size of cylinder
color	to display the collision object with

Returns:

true on sucess

Definition at line 671 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const Eigen::Vector3d &	a,
		const Eigen::Vector3d &	b,
		const std::string &	object_name,
		double	radius,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 678 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const Eigen::Affine3d &	object_pose,
		const std::string &	object_name,
		double	radius,
		double	height,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a MoveIt Collision cylinder with a center point pose.

Parameters:

pose	- vector pointing along axis of cylinder
name	- semantic name of MoveIt collision object
radius	- size of cylinder
height	- size of cylinder
color	to display the collision object with

Returns:

true on sucess

Definition at line 700 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionCylinder	(	const geometry_msgs::Pose &	object_pose,
		const std::string &	object_name,
		double	radius,
		double	height,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 706 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionFloor	(	double	z = 0.0,
		const std::string &	plane_name = "Floor",
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Make the floor a collision object.

Parameters:

z	location of floor
name	of floor
color	to display the collision object with

Returns:

true on success

Definition at line 653 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionGraph	(	const graph_msgs::GeometryGraph &	graph,
		const std::string &	object_name,
		double	radius,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Publish a connected birectional graph.

Parameters:

graph	of nodes and edges
name	of collision object
color	to display the collision object with

Returns:

true on sucess

Definition at line 774 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const geometry_msgs::Pose &	object_pose,
		const std::string &	object_name,
		const std::string &	mesh_path,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Create a collision object using a mesh.

Parameters:

pose	- location of center of mesh
name	- semantic name of MoveIt collision object
peth	- file location to an .stl file
color	to display the collision object with

Returns:

true on success

Definition at line 733 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const Eigen::Affine3d &	object_pose,
		const std::string &	object_name,
		const std::string &	mesh_path,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 727 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const Eigen::Affine3d &	object_pose,
		const std::string &	object_name,
		const shape_msgs::Mesh &	mesh_msg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 751 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionMesh	(	const geometry_msgs::Pose &	object_pose,
		const std::string &	object_name,
		const shape_msgs::Mesh &	mesh_msg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 757 of file moveit_visual_tools.cpp.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::publishCollisionRectangle	(	const Eigen::Vector3d &	point1,
		const Eigen::Vector3d &	point2,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)		[inline]

Create a MoveIt collision rectangular cuboid at the given pose.

Parameters:

point1	- top left of rectangle
point2	- bottom right of rectangle
name	- semantic name of MoveIt collision object
color	to display the collision object with

Returns:

true on sucess

Definition at line 326 of file moveit_visual_tools.h.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::publishCollisionRectangle	(	const geometry_msgs::Point &	point1,
		const geometry_msgs::Point &	point2,
		const std::string &	name,
		const rviz_visual_tools::colors &	color
	)		[inline]

Definition at line 332 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionTable	(	double	x,
		double	y,
		double	angle,
		double	width,
		double	height,
		double	depth,
		const std::string	name,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Publish a typical room table.

Parameters:

x
y
angle
width
height
depth
name
color	to display the collision object with

Returns:

true on sucess

Definition at line 906 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionTests

(

)

Simple tests for collision testing.

Returns:

true on success

Definition at line 980 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionWall	(	double	x,
		double	y,
		double	angle,
		double	width,
		const std::string	name,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Publish a typical room wall.

Parameters:

x
y
angle
width
height
name
color	to display the collision object with

Returns:

true on sucess

Definition at line 888 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishCollisionWall	(	double	x,
		double	y,
		double	angle = 0.0,
		double	width = 2.0,
		double	height = 1.5,
		const std::string	name = "wall",
		const rviz_visual_tools::colors &	color = rviz_visual_tools::GREEN
	)

Definition at line 897 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishContactPoints	(	const moveit::core::RobotState &	robot_state,
		const planning_scene::PlanningScene *	planning_scene,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::RED
	)

Given a planning scene and robot state, publish any collisions.

Parameters:

robot_state
planning_scene
color	- display color of markers

Returns:

true on success

Definition at line 991 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers	(	const Eigen::Affine3d &	pose,
		const robot_model::JointModelGroup *	ee_jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::CLEAR,
		const std::string &	ns = "end_effector"
	)		[inline]

Publish an end effector to rviz.

Parameters:

pose	- the location to publish the marker with respect to the base frame
ee_jmg	- joint model group of the end effector, e.g. "left_hand"
color	to display the collision object with

Returns:

true on success

Definition at line 218 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::publishEEMarkers	(	const geometry_msgs::Pose &	pose,
		const robot_model::JointModelGroup *	ee_jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::CLEAR,
		const std::string &	ns = "end_effector"
	)

Definition at line 321 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishGrasps	(	const std::vector< moveit_msgs::Grasp > &	possible_grasps,
		const robot_model::JointModelGroup *	ee_jmg,
		double	animate_speed = 0.1
	)

Show grasps generated from moveit_simple_grasps or other MoveIt Grasp message sources.

Parameters:

possible_grasps	- a set of grasp positions to visualize
ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
animate_speed	- how fast the gripper approach is animated, optional

Definition at line 371 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishIKSolutions	(	const std::vector< trajectory_msgs::JointTrajectoryPoint > &	ik_solutions,
		const robot_model::JointModelGroup *	arm_jmg,
		double	display_time = 0.4
	)

Display an vector of inverse kinematic solutions for the IK service in Rviz Note: this is published to the 'Planned Path' section of the 'MotionPlanning' display in Rviz.

Parameters:

ik_solutions	- a set of corresponding arm positions to achieve each grasp
arm_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
display_time	- amount of time to sleep between sending trajectories, optional

Definition at line 493 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const trajectory_msgs::JointTrajectoryPoint &	trajectory_pt,
		const robot_model::JointModelGroup *	jmg,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::DEFAULT
	)

Publish a MoveIt robot state to a topic that the Rviz "RobotState" display can show.

Parameters:

trajectory_pt	of joint positions
jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
color	- how to highlight the robot (solid-ly) if desired, default keeps color as specified in URDF

Returns:

true on success

Definition at line 1248 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const moveit::core::RobotState &	robot_state,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::DEFAULT
	)

Publish a complete robot state to Rviz To use, add a RobotState marker to Rviz and subscribe to the DISPLAY_ROBOT_STATE_TOPIC, above.

Parameters:

robot_state	- joint values of robot
color	- how to highlight the robot (solid-ly) if desired, default keeps color as specified in URDF

bool moveit_visual_tools::MoveItVisualTools::publishRobotState	(	const moveit::core::RobotStatePtr &	robot_state,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::DEFAULT
	)

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit::core::LinkModel *	ee_parent_link,
		const robot_model::JointModelGroup *	arm_jmg,
		const rviz_visual_tools::colors &	color,
		bool	clear_all_markers
	)		[inline]

Display a line of the end effector path from a robot trajectory path.

Parameters:

trajectory_msg	- the robot plan
ee_parent_link	- the link that we should trace a path of, e.g. the gripper link
arm_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
color	- display color of markers
clear_all_markers	- optionally ability to delete all existing markers in Rviz before adding the trajectory path

Returns:

true on success DEPRECATED - do not use clear_all_markers argument anymore!

Definition at line 518 of file moveit_visual_tools.h.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const robot_trajectory::RobotTrajectoryPtr	robot_trajectory,
		const moveit::core::LinkModel *	ee_parent_link,
		const rviz_visual_tools::colors &	color,
		bool	clear_all_markers
	)		[inline]

Definition at line 532 of file moveit_visual_tools.h.

RVIZ_VISUAL_TOOLS_DEPRECATED bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const robot_trajectory::RobotTrajectory &	robot_trajectory,
		const moveit::core::LinkModel *	ee_parent_link,
		const rviz_visual_tools::colors &	color,
		bool	clear_all_markers
	)		[inline]

Definition at line 546 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit::core::LinkModel *	ee_parent_link,
		const robot_model::JointModelGroup *	arm_jmg,
		const rviz_visual_tools::colors &	color
	)

Display a line of the end effector path from a robot trajectory path.

Parameters:

trajectory_msg	- the robot plan
ee_parent_link	- the link that we should trace a path of, e.g. the gripper link
arm_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"
color	- display color of markers

Returns:

true on success

Definition at line 1154 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const robot_trajectory::RobotTrajectoryPtr	robot_trajectory,
		const moveit::core::LinkModel *	ee_parent_link,
		const rviz_visual_tools::colors &	color
	)

Definition at line 1177 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryLine	(	const robot_trajectory::RobotTrajectory &	robot_trajectory,
		const moveit::core::LinkModel *	ee_parent_link,
		const rviz_visual_tools::colors &	color
	)

Definition at line 1184 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const std::vector< moveit::core::RobotStatePtr > &	trajectory,
		const moveit::core::JointModelGroup *	jmg,
		double	speed = 0.01,
		bool	blocking = false
	)

Animate trajectory in rviz.

Parameters:

trajectory	the actual plan
blocking	whether we need to wait for the animation to complete
robot_state	- the base state to add the joint trajectory message to
ee_jmg	- the set of joints to use, e.g. the MoveIt! planning group, e.g. "left_arm"

Returns:

true on success

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const robot_trajectory::RobotTrajectoryPtr &	trajectory,
		bool	blocking = false
	)

Definition at line 1079 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const robot_trajectory::RobotTrajectory &	trajectory,
		bool	blocking = false
	)

Definition at line 1084 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPath	(	const moveit_msgs::RobotTrajectory &	trajectory_msg,
		const moveit::core::RobotStateConstPtr	robot_state,
		bool	blocking = false
	)

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPoint	(	const trajectory_msgs::JointTrajectoryPoint &	trajectory_pt,
		const std::string &	planning_group,
		double	display_time = 0.1
	)

Move a joint group in MoveIt for visualization make sure you have already set the planning group name this assumes the trajectory_pt position is the size of the number of joints in the planning group This will be displayed in the Planned Path section of the MoveIt Rviz plugin.

Parameters:

trajectory_pts	- a single joint configuration
planning_group	- the MoveIt planning group the trajectory applies to
display_time	- amount of time for the trajectory to "execute"

Returns:

true on success

Definition at line 1032 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishTrajectoryPoints	(	const std::vector< moveit::core::RobotStatePtr > &	robot_state_trajectory,
		const moveit::core::LinkModel *	ee_parent_link,
		const rviz_visual_tools::colors &	color = rviz_visual_tools::YELLOW
	)

Display trajectory as series of end effector position points.

Parameters:

trajectory	the actual plan
color	- display color of markers

Returns:

true on success

Definition at line 1223 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::publishWorkspaceParameters

(

const moveit_msgs::WorkspaceParameters &

params

)

Display size of workspace used for planning with OMPL, etc. Important for virtual joints.

Parameters:

display

bounds of workspace

Returns:

true on sucess

Definition at line 985 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::removeAllCollisionObjects

(

)

Remove all collision objects that this class has added to the MoveIt! planning scene Communicates directly to a planning scene monitor e.g. if this is the move_group node.

Parameters:

the	scene to directly clear the collision objects from

Returns:

true on sucess

Definition at line 535 of file moveit_visual_tools.cpp.

void moveit_visual_tools::MoveItVisualTools::setManualSceneUpdating

(

bool

enable_manual = true

)

[inline]

Prevent the planning scene from always auto-pushing, but rather do it manually.

Parameters:

bool	true to enable manual mode

Definition at line 206 of file moveit_visual_tools.h.

void moveit_visual_tools::MoveItVisualTools::setPlanningSceneMonitor

(

planning_scene_monitor::PlanningSceneMonitorPtr

planning_scene_monitor

)

[inline]

Allow a pre-configured planning scene monitor to be set for publishing collision objects, etc.

Parameters:

a	pointer to a load planning scen

Definition at line 197 of file moveit_visual_tools.h.

void moveit_visual_tools::MoveItVisualTools::setPlanningSceneTopic

(

const std::string &

planning_scene_topic

)

[inline]

Set the planning scene topic.

Parameters:

topic

Definition at line 110 of file moveit_visual_tools.h.

void moveit_visual_tools::MoveItVisualTools::setRobotStateTopic

(

const std::string &

robot_state_topic

)

[inline]

Set the ROS topic for publishing a robot state.

Parameters:

topic

Definition at line 101 of file moveit_visual_tools.h.

void moveit_visual_tools::MoveItVisualTools::showJointLimits

(

moveit::core::RobotStatePtr

robot_state

)

Print to console the current robot state's joint values within its limits visually.

Parameters:

robot_state

- the robot to show

Definition at line 1343 of file moveit_visual_tools.cpp.

bool moveit_visual_tools::MoveItVisualTools::triggerPlanningSceneUpdate

(

)

When mannual_trigger_update_ is true, use this to tell the planning scene to send an update out. Do not use otherwise.

Definition at line 170 of file moveit_visual_tools.cpp.

---

Member Data Documentation

std::map<rviz_visual_tools::colors, moveit_msgs::DisplayRobotState> moveit_visual_tools::MoveItVisualTools::display_robot_msgs_ [protected]

Definition at line 657 of file moveit_visual_tools.h.

std::map<const robot_model::JointModelGroup *, visualization_msgs::MarkerArray> moveit_visual_tools::MoveItVisualTools::ee_markers_map_ [protected]

Definition at line 651 of file moveit_visual_tools.h.

std::map<const robot_model::JointModelGroup *, EigenSTL::vector_Affine3d> moveit_visual_tools::MoveItVisualTools::ee_poses_map_ [protected]

Definition at line 652 of file moveit_visual_tools.h.

moveit::core::RobotStatePtr moveit_visual_tools::MoveItVisualTools::hidden_robot_state_ [protected]

Definition at line 666 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::mannual_trigger_update_ [protected]

Definition at line 677 of file moveit_visual_tools.h.

planning_scene_monitor::PlanningSceneMonitorPtr moveit_visual_tools::MoveItVisualTools::planning_scene_monitor_ [protected]

Definition at line 647 of file moveit_visual_tools.h.

std::string moveit_visual_tools::MoveItVisualTools::planning_scene_topic_ [protected]

Definition at line 681 of file moveit_visual_tools.h.

ros::Publisher moveit_visual_tools::MoveItVisualTools::pub_display_path_ [protected]

Definition at line 643 of file moveit_visual_tools.h.

ros::Publisher moveit_visual_tools::MoveItVisualTools::pub_robot_state_ [protected]

Definition at line 644 of file moveit_visual_tools.h.

robot_model_loader::RobotModelLoaderPtr moveit_visual_tools::MoveItVisualTools::rm_loader_ [protected]

Definition at line 648 of file moveit_visual_tools.h.

moveit::core::RobotModelConstPtr moveit_visual_tools::MoveItVisualTools::robot_model_ [protected]

Definition at line 660 of file moveit_visual_tools.h.

Eigen::Affine3d moveit_visual_tools::MoveItVisualTools::robot_state_root_offset_ [protected]

Definition at line 674 of file moveit_visual_tools.h.

bool moveit_visual_tools::MoveItVisualTools::robot_state_root_offset_enabled_ [protected]

Definition at line 673 of file moveit_visual_tools.h.

std::string moveit_visual_tools::MoveItVisualTools::robot_state_topic_ [protected]

Definition at line 680 of file moveit_visual_tools.h.

moveit::core::RobotStatePtr moveit_visual_tools::MoveItVisualTools::root_robot_state_ [protected]

Definition at line 670 of file moveit_visual_tools.h.

moveit::core::RobotStatePtr moveit_visual_tools::MoveItVisualTools::shared_robot_state_ [protected]

Definition at line 663 of file moveit_visual_tools.h.

---

The documentation for this class was generated from the following files:

• moveit_visual_tools.h
• moveit_visual_tools.cpp